Lego Mindstorms Ev3 Firmware Developer Kit-7be073548547d99f7df59ddfd57c0088

8/19/2019 Lego Mindstorms Ev3 Firmware Developer Kit-7be073548547d99f7df59ddfd57c0088

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Firmware Developer Kit

LEGO® MINDSTORMS® EV3 Firmware Developer Kit

LEGO, the LEGO logo and MINDSTORMS are trademarks of the/sont des marques de commerce

de/son marcas registradas de LEGO Group. ©2013 The LEGO Group.


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Table of Contents

1 Hardware specifications for MINDSTORMS EV3 Programmable brick .................................................................. 3

2 Firmware architecture used within MINDSTORMS EV3 ............ ............. ............. ............ ............. ............. ............. ............4

2.1

Kernel modules ................................................................................................................................................................................4

2.2 Operating system (OS) ................................................................................................................................................................4

2.3 Shared libraries ................................................................................................................................................................................5

2.4 Virtual machine ................................................................................................................................................................................5

3 Program structure ............ ............ ............. ............. ............. ............. ............ ............. ............. ............. ............. ............. ............ ............. .. 7

3.1 Image header ................................................................................................................................................................................... 7

3.2 Object header ...................................................................................................................................................................................8

3.3 Bytecodes ...........................................................................................................................................................................................8

3.4

Parameter encoding .................................................................................................................................................................... 9

4 Byte code definition and functionality ....................................................................................................................................... 10

4.1 General operations ......................................................................................................................................................................10

4.2 Math instructions .......................................................................................................................................................................... 21

4.3 Logic operations ........... ............. ............. ............. ............. ............ ............. ............. ............. ............. ............ ............. ............. ..... 28

4.4 Memory move operations ....................................................................................................................................................... 31

4.5 Program branch operations .................................................................................................................................................. 35

4.6 Comparison operation .............................................................................................................................................................40

4.7

Program select operations .................................................................................................................................................... 45

4.8 Input port operations ................................................................................................................................................................ 46

4.9 Output port operations ............................................................................................................................................................ 53

4.10 Sound operations ........... ............. ............. ............. ............. ............ ............. ............. ............. ............. ............. ............ ............. ... 59

4.11 Timer operations ..........................................................................................................................................................................60

4.13 Communication operations ............ ............. ............. ............. ............. ............. ............ ............. ............. ............. ............. ....... 61

4.14 Memory operations .................................................................................................................................................................... 70

4.15 User interface operations ....................................................................................................................................................... 83

5

Device type list ..................................................................................................................................................................................... 100

6 Folder structure within firmware ................................................................................................................................................ 102

7 Program examples ............................................................................................................................................................................. 103

7.1 Line follower.................................................................................................................................................................................. 103

7.2 Scheduling blocks .................................................................................................................................................................... 104

7.3 Parallel loops ............. ............ ............. ............. ............. ............. ............ ............. ............. ............. ............. ............. ............ .......... 106

7.4 Calling subroutines with parameters ............................................................................................................................. 107

7.5 String parameter passing ..................................................................................................................................................... 108


LEGO, the LEGO logo and MINDSTORMS are trademarks of the/sont des marques decommerce de/son marcas registradas de LEGO Group. ©2013 The LEGO Group.

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1 Hardware specifications for MINDSTORMS EV3 Programmable brick

LEGO MINDSTORMS EV3 programmable brick is the central processing unit within the new LEGO

MINDSTORMS platform. The programmable brick consists of various advanced electronics to enable its

wide range of functionalities.

Below list is a summary of the hardware specifications for the EV3 Programmable brick.

Main processor: 32-bit ARM9 processor, Texas Instrument AM1808

- 300 MHz

- OS: LINUX

Memory: 64 MB DDR RAM

16 MB FLASH

256 KB EEPROM

Micro SD-Card interface SDHC standard, 2 – 32 GB

Bluetooth wireless communication Bluetooth V2.1 EDR, Panasonic PAN1325 module

- Texas Instrument CC2550 chip

-

BlueZ Bluetooth stack

- Primary usage, Serial Port Profile (SPP)

USB 2.0 Communication, Client interface High speed port (480 MBit/s)

USB 1.1 Communication, Host interface Full speed port (12 MBit/s)

4 input ports 6 wire interface supporting both digital and analog interface

- Analog input 0 – 5 volt

- Support Auto-ID for external devices

- UART communication

o Up to 460 Kbit/s (Port 1 and 2)

o Up to 230 Kbit/s (Port 3 and 4)

4 output ports 6 wire interface supporting input from motor encoders

Display 178x128 pixel black & white dot-matrix display

-

Viewing area: 29.9 x 41.1 mm

Loudspeaker Diameter, 23 mm

6 Buttons User interface Surrounding UI light

Power source 6 AA batteries

- Alkaline batteries are recommended

- Rechargeable Lithium Ion battery, 2000 mAH

Connector 6-wire industry-standard connector, RJ-12 Right side adjustment



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2 Firmware architecture used within MINDSTORMS EV3

The firmware architecture within LEGO MINDSTORMS EV3 is build around a LINUX operating system.

Multiple shared libraries are developed each enabling various functionality which are utilized by the

LEGO application (Virtual machine), which again are controlled through various system programs and

user programs (Byte-code programs).Figure 1 below provides a graphical representation of the firmware architecture from a high level

perspective.

Figure 1 : Graphical representation of the firmware architecture

2.1 Kernel modules

The kernel modules handles all initialization and control of hardware components both internal within

the ARM9 controller and towards external hardware components. Most of these drivers will be interrupt

driven. The kernel modules are represented as the black layer within Figure 1.

2.2 Operating system (OS)

MINDSTORMS EV3 is build around linux platform support packages (PSP) for AM1808 ARM9 controller.

The specific packages used DaVinci-PSP-SDK-03.20.00.13 utilizes a LINUX kernel version 2.6.33 RC4.

The actual used operating system is compiled using “GNU + CodeSourcery_G++ lite” compilers with

various special settings.



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2.3

Shared libraries

The system will consist of multiple shared libraries which individually handle various specific

functionalities. The shared libraries are represented as the green layer within Figure 1.

These shared libraries are implemented as “Asynchronous driver model” which mean that polling or

direct signalling are needed between the shared library and virtual machine.

The functionality implemented within the shared libraries will be accessed from the virtual machine

through system calls from the virtual machine into the shared libraries. All system commands are

implemented in a way that is none blocking.

The shared libraries are implemented in C and compiled into native code to enable the optimal

performance. New functionality can be added to the firmware through either improving existing shared

libraries or developing new shared libraries to the system.

Initially the firmware includes the following shared libraries:

Shared libraries within LEGO MINDSTORMS EV3 Firmware

Input library Handle all functionality around input portsOutput library Handle all functionality around output portsSound library Handle all functionality around playing soundsUser interface library Handle all functionality around user interfaceCommunication library Handle all communication with EV3 P-brick (USB, Bluetooth, WiFi)Memory library Handle all functionality around memory management

2.4 Virtual machine

The virtual machine should be thought of as the actual application running on the EV3 P-brick. Thevirtual machine handles the actual program execution and calls into the shared libraries (Functionality

device drivers). The virtual machine is represented as the blue layer within Figure 1.

Program execution is done through byte-code which represents an abstraction of various functionalities

within the shared libraries. These byte-codes will be documented in more detailed within section 4.

The virtual machine is implemented using a memory based architecture in order to match the output

from the compiler most optimal.

New functionality can be achieved through implementation of sub-routines within programs. This

approach enables for example 3rd party developers to implement new functionality without having to

develop new shared libraries and build new firmware versions.All user functionality needed when the products launched is implemented within shared libraries, with

the exception of the user interface which is launched when the LEGO MINDSTORMS EV3 P-brick starts.

This interface is implemented using byte-codes as this enables updating the user interface without

having to rebuild the entire firmware.



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A few main characteristic for the virtual machine:

- The following data-types are supported:

o 8-bit integer

o 16-bit integer

o

32-bit integero Float (IEEE 754 single precision – 32 bits)

o Strings

o Arrays (Implemented as shared library functionality)

- There is no support for polymorphism (Data types should be defined at compile time)



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3 Program structure

This section will outline the structure required within user programs which the virtual machine is able to

execute. Basically a program consists of the following three different components in the mentioned

fixed order:

-

Image header- Object headers

- Byte-codes

Little Endian (addresses and data are represented with LSB on lowest address and MSB on highest

address) is expected throughout the entire program. Referencing offset to instructions is number of

bytes from start of image to start of object instructions. Index to global variables are byte based and

counted from start of globals (zero based) while index to local variables are byte based and counted

from start of object locals (zero based). Object ID's is not zero based - First object (VMTHEAD) is named

1.

3.1

Image headerThe image header documents image version, filesize, no of objectheaders (objects) and no of global

variable bytes.

Image header

Sign 4 bytesImage size 4 bytesVersion info 2 bytesNumber of objects 2 bytesNumber of global bytes 4 bytes



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3.2

Object header

Objectheaders contains different informations depending on the nature of the object:

•

The VMTHREAD object (former TBC_TOPVI)

o

OffsetToInstructions tells were to find the corresponding byte codes (offset from imagestart)

o OwnerObjectId must be zeroo TriggerCount is used but must be zeroo LocalBytes describes the number of bytes for local variables

•

The SUBCALL object (former TBC_VI and TBC_VI_ALIAS)o OffsetToInstructions tells were to find the corresponding byte codes (if alias this is equal

to mother object)o OwnerObjectId must be zeroo TriggerCount is used and must be oneo LocalBytes describes the number of bytes for local variables

• The BLOCK object (former CLUMP)

o OffsetToInstructions tells were to find the corresponding byte codes (offset from imagestart)

o OwnerObjectId is equal to object id it belongs to (not equal to zero)o TriggerCount is used to determine how many triggers needed before the BLOCK object

is activatedo LocalBytes must be zero (locals are defined in the owner object)

Object header

Offset to instructions 4 bytesOwner object id 2 bytes

Trigger count 2 bytesLocal bytes 4 bytes

3.3 Bytecodes

The individual byte codes will be documented in details within section 0. Below are some general

guidelines for how the byte codes are implemented.

•

Little Endian is used

o Addresses and data are represented with LSB on lowest address and MSB on highest

address

•

Offset to instructions is number of bytes from start of image to start of object instructions• Index to global variables is byte based and counted from start of globals (zero based)

• Index to local variables is byte based and counted from start of object locals (zero based)

• Object ID's is not zero based - First object (VMTHEAD) is named 1

• FILE layout needs to be aligned



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3.4

Parameter encoding

Parameter types and values for primitives, system calls and subroutine calls are encoded in the callers

byte code stream as follows:

opAdd8 (ParCode1, ParCode2, ParCodeN)

Bits 70 x x x x x x x

6 5 4 3 2 1 0

Short format

0

10

1

Constant

Positive valueNegative value

Variable

Local indexGlobal index

Long format

Constant

ValueLabel

Variable

LocalGlobal

ValueHandle

Zero terminated string1 byte to follow2 bytes to follow4 bytes to followZero terminated string

01

V VV VVVV

VVV

i

t

ii i ii

i i ii

tt b b b

0

0

0

00

0

0

0

00

0

00

0

1

1

1

1

1

1

111

-

1

For subroutine parameters additional information about number of parameters, direction and size are

needed and placed in front of the called code.

Parameters MUST be sorted as follows: Largest (4 Bytes) parameters is first and smallets (1 Byte) is last

in the list.

OffsetToInstructions => NoOfPars, ParType1, ParType2, ParTypeN

Bits 7 6 5 4 3 2 1 0Long format

X Parameter in

i o - - - bb b

1

X1 Parameter out

32 bitsFloat

000 0

00

001

111

Zero terminated string (Next byte tells allocated size)0 01

16 bits8 bits



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4 Byte code definition and functionality

This section will document the individual up-codes which the virtual machine is able to execute.

4.1 General operations

Instruction OpError

Opcode 0x00

Arguments

Dispatch status Changed to INSTRBREAK

Description Instruction can be used to indicate error. This code is not normally used in programs.

Instruction OpNop

Opcode 0x01

Arguments

Dispatch status Unchanged

Description Instruction will do nothing.

Instruction OpProgram_Stop PRGID)

Opcode 0x02

Arguments (Data16) Program ID slot

Dispatch status Changed to PRGBREAK

Description Stop specific program ID slot

The following program ID definition can be referenced:

0 Program slot served for executing the user interface

1 Program slot used for executing user programs

2 Program slot used for direct commands received from external

3 Program slot used for direct commands coming from the user interface

4 Program slot used for debug user interface

-1 Current slot

Instruction OpProgram_Start PRGID, SIZE, *IP, DEBUG)

Opcode 0x03

Arguments (Data16) Program ID slot

(Data32) Size of image

(Data32) Address of image (Value obtained from opFILE(LOAD_Image,..))

(Data8) Debug mode

Dispatch status UnchangedDescription This function is to be used for starting an existing user program on the EV3 P-brick.

The debug mode parameter can take the following values:

0 Normal mode

1 Debug mode, Requires debugging tools to be installed and running

2 Do not execute the program



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Instruction OpObject_Stop OBJID)

Opcode 0x04

Arguments (Data16) OBJID

Dispatch status Changed to STOPBREAK

Description This function can be used for stopping a specific object in further execution.

Instruction opObject_Start OBJID)

Opcode 0x05



Description This function can be used for starting a specific object to execute

Instruction opObject_Trig OBJID)

Opcode 0x06


Dispatch status UnchangedDescription This function trigger the specific object and initaite execution if alle trigger require-

ments are active.

Instruction opObject_Wait OBJID)

Opcode 0x07


Dispatch status Status can change to BUSYBREAK if object is not finalized

Description This function will make the specific execution wait until the specific object have

finalized

Instruction opReturn

Opcode 0x08

Arguments

Dispatch status Status changed to STOPBREAK

Description This function enables returning from subroutine

Instruction opCall OBJID, PARAMETERS)

Opcode 0x09


(Data8) PARAMETERS, please reference parameter encoding section 0

Dispatch status Status changed to STOPBREAK or BUSYBREAKDescription This function can be used for calling sub-routines

Instruction opObject_End

Opcode 0x0A

Arguments

Dispatch status Status changed to STOPBREAK

Description This function should be used in the end of object to indicated the end of the object



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Instruction opSleep

Opcode 0x0B

Arguments

Dispatch status Status changed to INSTRBREAK

Description This function will break current VM-thread execution

Instruction opProgram_Info CMD, PRGID, DATA)

Opcode 0x0C

Arguments (Data8) CMD => Specific command parameter documented below

Dispatch status Status changed to FAILBREAK

Description Depending on selected command type

MD

OBJ_STOP = 0x00

Arguments

(Data16) PRGID – Program slot number

(Data16) OBJID – Object id

MD OBJ_START = 0x04

Arguments


(Data16) OBJID – Object id

MD GET_STATUS = 0x16

Arguments


Returns

(Data8) Data – Program status

MD GET_ SPEED = 0x17

Arguments


Returns

(Data32) Data – Program speed [instr/S]

MD

GET_ PRGRESULT = 0x18

Arguments

(Data16) PRGID – Program slot numberReturns

(Data8) Data – Program result [OK, BUSY, FAIL]

Instruction opLabel NO)

Opcode 0x0D

Arguments (Data8) NO – Label number


Description This function enables marking an address with a label



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Instruction opProbe PRGID, OBJID, OFFSET, SIZE)

Opcode 0x0E

Arguments (Data16) PRGID – Program slot number

(Data16) OBJID – Object id (Zero means globals)

(Data32) OFFSET – Offset (Start from…)(Data32) SIZE – Size (length of dump) zero means all (max 1024)


Description This function enables displaying global’s or object locals on the terminal

Instruction opDo PRGID, IMAGE)

Opcode 0x0F


(Data32) *IMAGE – Address of image

(Data32) *GLOBAL – Address of global variables

Displatch status Status changed to BUSYBREAK

Description This function enables activating a small byte code snippet

Instruction opBP0

Opcode 0x88

Arguments


Description This function enables displaying global or objects locals on terminal when debug is

enabled. Removes itself when done.

Instruction opBP1

Opcode 0x89

Arguments




Instruction opBP2

Opcode 0x8A

Arguments




Instruction opBP3

Opcode 0x8B

Arguments






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Instruction opPB_Set PRGID, NO, ADDRESS)

Opcode 0x8C


(Data8) NO – Breakpoint number [0-3]

(Data32) ADDRESS – Address (Offset from start of image) (0 = Remove breakpoint)Dispatch status Unchanged

Description This function enables setting a breakpoint within byte code program

Instruction opRandom MIN, MAX, VALUE)

Opcode 0x8E

Arguments (Data16) MIN – Minimum value

(Data16) MAX – Maximum value

Returns

(Data16) VALUE – Random value within the min and max range


Description This function enables getting a random value within the specified range



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Instruction opInfo CMD, …)

Opcode 0x7C



Description Information on functions entry

MD SET_ERROR = 0x01

Arguments

(Data8) NUMBER – Error number

MD GET_ERROR = 0x02

Arguments

(Data8) NUMBER – Error number

MD

ERRORTEXT = 0x03

Arguments(Data8) NUMBER – Error number

(Data8) LENGTH – Maximum length of string returned (-1 = No check)

Returns

(Data8) DESTINATION – String variable or handle to string

Description

Convert error number to text string

MD

GET_VOLUME = 0x04

Returns

(Data8) VALUE – Volume [0-100%]

MD SET_VOLUME = 0x05

Arguments

(Data8) VALUE – Volume [0-100%]

MD GET_MINUTES = 0x06

Returns

(Data8) VALUE – Minutes to sleep [0-120 min]

MD SET_MINUTES = 0x07

Arguments(Data8) VALUE – Minutes to sleep [0-120 min]



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Instruction opString CMD, …)

Opcode 0x7D



Description String function entry

MD GET_SIZE = 0x01

Arguments

(Data8) SOURCE1 – String variable or handle to string

Returns

(Data16) SIZE – Size of string

Description

Get size of string, not including zero termination

MD

ADD = 0x02

Arguments(Data8) SOURCE1 – String variable or handle to string


Returns


MD

COMPARE = 0x03

Arguments



Returns

(Data8) RESULT – Result (0 = Not equal, 1 = equal)

MD DUPLICATE = 0x05

Arguments


Returns


MD

VALUE_TO_STRING = 0x06

Arguments

(DataF) VALUE – Value which are to be converted(Data8) FIGURES – Total number of figures inclusive decimal point

(Data8) DECIMALS – Number og decimals

Returns


Description

Convert floating point value to a string



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MD

STRING_TO_VALUE = 0x07

Arguments


Returns

(DataF) Value – Floating point valueDescription

Convert string to floating point value

MD STRIP = 0x08

Arguments


Returns


Description

Strip a string for spaces

MD

NUMBER_TO_STRING = 0x09

Arguments

(Data16) VALUE – Value which are to be converted

(Data8) FIGURES – Total number of figures inclusive decimal point

Returns


MD

SUB = 0x0A

Arguments



Returns


Description

Returns a substring from source 1 that starts were source 2 ends

MD

VALUE_FORMATTED = 0x0B

Arguments

(DataF) VALUE – Value which are to be converted

(Data8) FORMAT – Format string variable or handle to string

(Data8) SIZE – Total size of destination stringReturns


Description

Convert floating point value to formatted string



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MD

NUMBER_FORMATTED = 0x0C

Arguments

(Data32) NUMBER – Value which are to be converted

(Data8) FORMAT – Format string variable or handle to string

(Data8) SIZE – Total size of destination stringReturns


Description

Convert integer value to formatted string



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Instruction opMemory_Write PRGID, OBJID, OFFSET, SIZE, ARRAY)

Opcode 0x7E



(Data32) OFFSET – Offset (Start from…)(Data32) SIZE – Length of array to write

(Data8) ARRAY – First element of data8 array to write


Description This function enables writting directly into program memory

Instruction opMemory_Read PRGID, OBJID, OFFSET, SIZE, ARRAY)

Opcode 0x7F



(Data32) OFFSET – Offset (Start from…)

(Data32) SIZE – Length of array to readReturns

(Data8) ARRAY – First element of data8 array to receive


Description This function enables writting directly into program memory

Instruction opPort_Cnv_Output PortIn, Layer, Bitfield, Inverted)

Opcode 0x61

Arguments (Data32) PortIn – Encoded port number

Returns (Data8) Layer – Value indicating layer number

(Data8) Bitfield – Bitfield indicating specific port(s)

(Data8) Inverted – True if left/right motor are inverted


Description This function enables converter port to layer and bitfield used on output ports

Instruction opPort_Cnv_Input PortIn, Layer, PortOut)

Opcode 0x61

Arguments (Data32) PortIn – Encoded port number

Returns (Data8) Layer – Value indicating layer number

(Data8) PortOut – Indicated the relevant port to use (Zero adjusted)


Description This function enables converter port to layer and bitfield used on input ports

Instruction opNote_To_Freq NOTE, FREQ)

Opcode 0x63

Arguments (Data8) NOTE – Note string (HND) (E.C. ”C#4”)

Return (Data16) FREQ – Frequency [Hz]


Description This function enables converting note to a tone



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Instruction opSystem COMMAND, STATUS)

Opcode 0x60

Arguments (Data8) COMMAND – Command string (HND)

Return (Data32) STATUS – Status of command

Dispatch status UnchangedDescription This function enables executing a system command string (HND)



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4.2 Math instructions

Instruction opAdd8 SOURCE1, SOURCE2, DESTINATION)

Opcode 0x10

Arguments (Data8) SOURCE1 – Value 1

(Data8) SOURCE2 – Value 2Return (Data8) DESTINATION – Value = Value 1 + Value 2


Description This function enables adding two 8-bit values together


Opcode 0x11

Arguments (Data16) SOURCE1 – Source 1 value / index

(Data16) SOURCE2 – Source 2 value / index

Return (Data16) DESTINATION – Value = Value 1 + Value 2




Opcode 0x12



Return (Data32) DESTINATION – Value = Value 1 + Value 2



Instruction opAddF SOURCE1, SOURCE2, DESTINATION) Opcode 0x13

Arguments (DataF) SOURCE1 – Source 1 value / index

(DataF) SOURCE2 – Source 2 value / index

Return (DataF) DESTINATION – Value = Value 1 + Value 2


Description This function enables adding two floating point values together

Instruction opSub8 SOURCE1, SOURCE2, DESTINATION)

Opcode 0x14


(Data8) SOURCE2 – Source 2 value / indexReturn (Data8) DESTINATION – Value = Value 1 - Value 2


Description This function enables subtracting one 8-bit value from another 8-bit value


Opcode 0x15



Return (Data16) DESTINATION – Value = Value 1 - Value 2





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Opcode 0x16


(Data32) SOURCE2 – Source 2 value / indexReturn (Data32) DESTINATION – Value = Value 1 - Value 2



Instruction opSubF SOURCE1, SOURCE2, DESTINATION)

Opcode 0x17



Return (DataF) DESTINATION – Value = Value 1 - Value 2


Description This function enables subtracting one floating point value from another floating point

value

Instruction opMul8 SOURCE1, SOURCE2, DESTINATION)

Opcode 0x18



Return (Data8) DESTINATION – Value = Value 1 * Value 2


Description This function enables multiplying two 8-bit values together


Opcode 0x19







Opcode 0x1A

Arguments (Data32) SOURCE1 – Source 1 value / index(Data32) SOURCE2 – Source 2 value / index






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Instruction opMulF SOURCE1, SOURCE2, DESTINATION)

Opcode 0x1B



Return (DataF) DESTINATION – Value = Value 1 * Value 2Dispatch status Unchanged

Description This function enables multiplying two floating points together

Instruction opDiv8 SOURCE1, SOURCE2, DESTINATION)

Opcode 0x1C



Return (Data8) DESTINATION – Value = Value 1 / Value 2


Description This function enables diving one 8 bit value with another 8 bit value


Opcode 0x1D







Opcode 0x1E






Instruction opDivF SOURCE1, SOURCE2, DESTINATION)

Opcode 0x1F



Return (DataF) DESTINATION – Value = Value 1 / Value 2Dispatch status Unchanged

Description This function enables diving one floating point value with another floating point value

Instruction opMath CMD, …)



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Opcode 0x8D



Description Math function entry

MD

EXP = 0x01

Arguments

(DataF) DATA X – Exponent value

Returns

(DataF) RESULT – Calculated value

Description

eX, Result = expf(X)

MD MOD = 0x02

Arguments

(DataF) DATA X – Division numerator(DataF) DATA Y – Division denominator

Returns

(DataF) RESULT – String variable or handle to string

Description

Modulo, Result = fmod(x,y)

MD

FLOOR = 0x03

Arguments

(DataF) DATA X – Floating point input number

Returns

(DataF) RESULT – Largest real number not greater than X

Description

Result = floor(x)

MD CEIL = 0x04

Arguments


Returns

(DataF) RESULT – Smallest real number not less than X

DescriptionResult = ceil(x)

MD

ROUND = 0x05

Arguments


Returns

(DataF) RESULT – Rounded real value

Description

Result = round(x)

MD ABS = 0x06



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Arguments


Returns

(DataF) RESULT – Absolute value

DescriptionResult = fabs(x)

MD

NEGATE = 0x07

Arguments


Returns

(DataF) RESULT – Input value negated

Description

Result = 0.0 - x

MD SQRT = 0x08Arguments


Returns

(DataF) RESULT – Square root of input value

Description

Square root, Result = sqrt(x)

MD

LOG = 0x09

Arguments


Returns

(DataF) RESULT – 10 logarithm of input value

Description

Result = log10(x)

MD Ln = 0x0A

Arguments


Returns

(DataF) RESULT – Logarithm of input value

DescriptionResult = log(x)

MD SIN = 0x0B

Arguments


Returns

(DataF) RESULT – Return sinus geometry value

MD COS = 0x0C



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Arguments


Returns

(DataF) RESULT – Return cosine geometry value

MD

TAN = 0x0D

Arguments


Returns

(DataF) RESULT – Return tangent geometry value

MD ASIN = 0x0E

Arguments


Returns

(DataF) RESULT – Return arc sinus geometry value

MD ACOS = 0x0F

Arguments


Returns

(DataF) RESULT – Return arc cosine geometry value

MD

ATAN = 0x10

Arguments


Returns

(DataF) RESULT – Return arc tangent geometry value

MD MOD8 = 0x11

Arguments

(Data8) DATA X – Division numerator

(Data8) DATA Y – Division denominator

Returns

(Data8) RESULT – Result of modulo operation

Description

Modulo Data8, fmod(x,y)

MD MOD16 = 0x12

Arguments



Returns

(Data16) RESULT – Result of modulo operation

Description


CMD: MOD32 = 0x13



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Arguments



Returns

(Data32) RESULT – Result of modulo operationDescription


MD POW = 0x14

Arguments

(DataF) DATA X – Value which is lifted to the power of Y

(DataF) DATA Y – Power numerator

Returns

(DataF) RESULT – Result of power operation

Description

Exponent, R = powf(x,y)

MD TRUNC = 0x15

Arguments

(DataF) DATA X – Value which are to be truncated

(Data8) DATA P – Precision [0-9]

Returns

(DataF) RESULT – Truncated value

Description

Truncate, R = (float)((int)(x*pow(y)))/ pow(Y)



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4.3

Logic operations

Instruction opOr8 SOURCE1, SOURCE2, DESTINATION)

Opcode 0x20


Result (Data8) DESTINATION – Result value = Value 1 | Value 2


Description This function enables a program to or two 8 bit values together


Opcode 0x21







Opcode 0x22






Instruction opAnd8 SOURCE1, SOURCE2, DESTINATION)

Opcode 0x24



Result (Data8) DESTINATION – Result value = Value 1 & Value 2


Description This function enables a program to and two 8 bit values together


Opcode 0x25


Result (Data16) DESTINATION – Result value = Value 1 & Value 2





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Opcode 0x26



Result (Data32) DESTINATION – Result value = Value 1 & Value 2Dispatch status Unchanged


Instruction opXor8 SOURCE1, SOURCE2, DESTINATION)

Opcode 0x28



Result (Data8) DESTINATION – Result value = Value 1 ^ Value 2


Description This function enables a program to xor two 8 bit values together


Opcode 0x29







Opcode 0x2A






Instruction opRl8 SOURCE1, SOURCE2, DESTINATION)

Opcode 0x2C



Result (Data8) DESTINATION – Result value = Value 1


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Instruction opRl32 SOURCE1, SOURCE2, DESTINATION)

Opcode 0x2E



Result (Data32) DESTINATION – Result value = Value 1


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4.4

Memory move operations

Instruction opInit_Bytes DESTINATION, LENGTH, SOURCE)

Opcode 0x2F

Arguments (Data32) LENGTH – Number of elements to initiate(Data8) SOURCE – First element to initiate data8 array with

Return (Data8) DESTINATION – First element in data8 array to be initiated


Description This function enables moving a number of data8 from BYTE STREAM to memory

DESTINATION START.

Instruction opMove8_8 SOURCE, DESTINATION)

Opcode 0x30

Arguments (Data8) SOURCE – Source value / index

Return (Data8) DESTINATION – Destination value / index


Description Move value from 8 bit source to 8 bit destination


Opcode 0x31





Instruction opMove8_32 SOURCE, DESTINATION) Opcode 0x32





Instruction opMove8_F SOURCE, DESTINATION)

Opcode 0x33

Arguments (Data8) Source – Source value / index

Return (DataF) DESTINATION – Destination value / index

Dispatch status UnchangedDescription Move value from 8 bit source to floating point destination


Opcode 0x34







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Instruction opMoveF_8 SOURCE, DESTINATION)

Opcode 0x3C

Arguments (DataF) SOURCE – Source value / index


Dispatch status UnchangedDescription Move value from floating point source to 8 bit destination


Opcode 0x3D




Description Move value from floating point source to 16 bit destination


Opcode 0x3EArguments (DataF) SOURCE – Source value / index



Description Move value from floating point source to 32 bit destination

Instruction opMoveF_F SOURCE, DESTINATION)

Opcode 0x3F


Return (DataF) DESTINATION – Destination value / index


Description Move value from floating point source to floating point destination

Instruction opRead8 SOURCE, INDEX, DESTINATION)

Opcode 0xC8

Arguments (Data8) SOURCE – First value in array of values

(Data8) INDEX – Index into array which are to be read

Return (Data8) DESTINATION – Destination value / index to receive read data


Description Read 8 bit value from source array and store within destination


Opcode 0xC9



Return (Data16) DESTINATION – Destination value / index to receive read data





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Opcode 0xCA



Return (Data32) DESTINATION – Destination value / index to receive read dataDispatch status Unchanged


Instruction opReadF SOURCE, INDEX, DESTINATION)

Opcode 0xCB

Arguments (DataF) SOURCE – First value in array of values


Return (DataF) DESTINATION – Destination value / index to receive read data


Description Read floating point value from source array and store within destination

Instruction opWrite8 SOURCE, INDEX, DESTINATION)

Opcode 0xCC

Arguments (Data8) SOURCE – Variable to write

(Data8) INDEX – Index into array were data are to be written

(Data8) DESTINATION – Array to receive data


Description Write 8 bit value from source into destination array and index


Opcode 0xCD

Arguments (Data16) SOURCE – Variable to write(Data8) INDEX – Index into array were data are to be written



Description Write 16 bit value from source into destination array and index


Opcode 0xCE

Arguments (Data32) SOURCE – Variable to write



Dispatch status UnchangedDescription Write 32 bit value from source into destination array and index

Instruction opWriteF SOURCE, INDEX, DESTINATION)

Opcode 0xCF

Arguments (DataF) SOURCE – Variable to write


(DataF) DESTINATION – Array to receive data


Description Write floating point value from source into destination array and index



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4.5

Program branch operations

Instruction opJr OFFSET)

Opcode 0x40

Arguments (Data32) OFFSET – Number of bytes to branch Dispatch status Unchanged

Description Program branch unconditionally relative to current position

Instruction opJr_False FLAG, OFFSET)

Opcode 0x41

Arguments (Data8) FLAG

(Data32) OFFSET – Number of bytes to branch


Description Program branch relative given that flag is FALSE (Zero)

Instruction opJr_True OFFSET)

Opcode 0x42

Arguments (Data32) OFFSET – Number of bytes to branch


Description Program branch relative given that flag is TRUE (None zero)

Instruction opJr_Nan VALUE, OFFSET)

Opcode 0x43

Arguments (DataF) VALUE


Dispatch status UnchangedDescription Program branch relative if value is NAN (Not a number)

Instruction opJr_Lt8 LEFT, RIGHT, OFFSET)

Opcode 0x64

Arguments (Data8) LEFT – Left value within comparison logic

(Data8) RIGHT – Right value within comparison logic



Description Program branch relative if LEFT value is less than RIGHT value

Instruction opJr_Lt16 LEFT, RIGHT, OFFSET) Opcode 0x65








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Instruction opJr_Lt32 LEFT, RIGHT, OFFSET)

Opcode 0x66



(Data32) OFFSET – Number of bytes to branch Dispatch status Unchanged


Instruction opJr_LtF LEFT, RIGHT, OFFSET)

Opcode 0x67

Arguments (DataF) LEFT – Left value within comparison logic

(DataF) RIGHT – Right value within comparison logic




Instruction opJr_Gt8 LEFT, RIGHT, OFFSET)

Opcode 0x68





Description Program branch relative if LEFT value is greater than RIGHT value


Opcode 0x69







Opcode 0x6A





Instruction opJr_GtF LEFT, RIGHT, OFFSET)

Opcode 0x6B








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Instruction opJr_Eq8 LEFT, RIGHT, OFFSET)

Opcode 0x6C


(Data8) RIGHT – Right value within comparison logic(Data32) OFFSET – Number of bytes to branch


Description Program branch relative if LEFT value is equal to RIGHT value


Opcode 0x6D







Opcode 0x6E






Instruction opJr_EqF LEFT, RIGHT, OFFSET)

Opcode 0x6F






Instruction opJr_Neq8 LEFT, RIGHT, OFFSET)

Opcode 0x70


(Data8) RIGHT – Right value within comparison logic(Data32) OFFSET – Number of bytes to branch


Description Program branch relative if LEFT value is not equal to RIGHT value



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Opcode 0x71






Opcode 0x72






Instruction opJr_NeqF LEFT, RIGHT, OFFSET)

Opcode 0x73






Instruction opJr_Lteq8 LEFT, RIGHT, OFFSET)

Opcode 0x74





Description Program branch relative if LEFT value is less than or equal to RIGHT value


Opcode 0x75






Opcode 0x76








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Instruction opJr_LteqF LEFT, RIGHT, OFFSET)

Opcode 0x77





Instruction opJr_Gteq8 LEFT, RIGHT, OFFSET)

Opcode 0x78





Description Program branch relative if LEFT value is greater than or equal to RIGHT value


Opcode 0x79







Opcode 0x7A






Instruction opJr_GteqF LEFT, RIGHT, OFFSET)

Opcode 0x7B







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4.6

Comparison operation

Instruction opCp_Lt8 LEFT, RIGHT, FLAG)

Opcode 0x44

Arguments (Data8) LEFT – Left value within comparison logic(Data8) RIGHT – Right value within comparison logic

Result (Data8) FLAG – Result of comparison (None zero if true)


Description Enables a program to identify if LEFT is less than RIGHT and set flag accordingly


Opcode 0x45







Opcode 0x46






Instruction opCp_LtF LEFT, RIGHT, FLAG)

Opcode 0x47






Instruction opCp_Gt8 LEFT, RIGHT, FLAG)

Opcode 0x48

Arguments (Data8) LEFT – Left value within comparison logic(Data8) RIGHT – Right value within comparison logic

Return (Data8) FLAG – Result of comparison (None zero if true)


Description Enables a program to identify if LEFT is greater than RIGHT and set flag accordingly



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Opcode 0x49



Return (Data8) FLAG – Result of comparison (None zero if true) Dispatch status Unchanged



Opcode 0x4A






Instruction opCp_GtF LEFT, RIGHT, FLAG)

Opcode 0x4B






Instruction opCp_Eq8 LEFT, RIGHT, FLAG)

Opcode 0x4C





Description Enables a program to identify if LEFT is equal to RIGHT and set flag accordingly


Opcode 0x4D






Opcode 0x4E








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Instruction opCp_EqF LEFT, RIGHT, FLAG)

Opcode 0x4F





Instruction opCp_Neq8 LEFT, RIGHT, FLAG)

Opcode 0x50





Description Enables a program to identify if LEFT is not equal to RIGHT and set flag accordingly


Opcode 0x51







Opcode 0x52






Instruction opCp_NeqF LEFT, RIGHT, FLAG)

Opcode 0x53





Instruction opCp_Lteq8 LEFT, RIGHT, FLAG)

Opcode 0x54





Description Enables a program to identify if LEFT is less than or equal to RIGHT and set flag

accordingly



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Opcode 0x55


(Data16) RIGHT – Right value within comparison logicReturn (Data8) FLAG – Result of comparison (None zero if true)



accordingly


Opcode 0x56




Dispatch status UnchangedDescription Enables a program to identify if LEFT is less than or equal to RIGHT and set flag

accordingly

Instruction opCp_LteqF LEFT, RIGHT, FLAG)

Opcode 0x57






accordingly

Instruction opCp_Gteq8 LEFT, RIGHT, FLAG)

Opcode 0x58





Description Enables a program to identify if LEFT is greater than or equal to RIGHT and set flag

accordingly


Opcode 0x59






accordingly



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Opcode 0x5A





accordingly

Instruction opCp_GteqF LEFT, RIGHT, FLAG)

Opcode 0x5B





Description Enables a program to identify if LEFT is greater than or equal to RIGHT and set flagaccordingly



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4.7

Program select operations

Instruction opSelect8 FLAG, SOURCE1, SOURCE2, *RESULT)

Opcode 0x5C

Arguments (Data8) FLAG – Function as determined for operation(Data8) SOURCE1 – Source 1 value / index


Return (Data8) *RESULT – Destination for value


Description Enables a program to move value based on flag. If FLAG is set source 1 will be moved

to result. If FLAG is not set, source 2 will be moved to result.


Opcode 0x5D

Arguments (Data8) FLAG – Function as determined for operation








Opcode 0x5E


(Data32) SOURCE1 – Source 1 value / index(Data32) SOURCE2 – Source 2 value / index





Instruction opSelectF FLAG, SOURCE1, SOURCE2, *RESULT)

Opcode 0x5F



(DataF) SOURCE2 – Source 2 value / indexReturn (DataF) *RESULT – Destination for value






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4.8

Input port operations

Instruction opInput_Device_List LENGTH, ARRAY, CHANGED)

Opcode 0x98

Arguments (Data8) LENGTH – Maximum number of devices types (Normally 32)Return (Data8) ARRAY – First element of data8 array of types (Normally 32)

(Data8) CHANGED – Changed status


Description Enables a program to read all available devices on input chain

Instruction opInput_Device CMD, …)

Opcode 0x99

Lego Mindstorms Ev3 Firmware Developer Kit-7be073548547d99f7df59ddfd57c0088

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